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Abstract

The state-of-the-art laparoscope lacks the ability to capture high-magnification and wide-angle images simultaneously, which introduces challenges when both close- up views for details and wide-angle overviews for orientation are required in clinical practice. A multi-resolution foveated laparoscope (MRFL) which can provide the surgeon both high-magnification close-up and wide-angle images was proposed to address the limitations of the state-of-art surgical laparoscopes. In this paper, we present the overall system design from both clinical and optical system perspectives along with a set of experiments to characterize the optical performances of our prototype system and describe our preliminary in-vivo evaluation of the prototype with a pig model. The experimental results demonstrate that at the optimum working distance of 120mm, the high-magnification probe has a resolution of 6.35lp/mm and image a surgical area of 53 × 40mm2; the wide-angle probe provides a surgical area coverage of 160 × 120mm2 with a resolution of 2.83lp/mm. The in-vivo evaluation demonstrates that MRFL has great potential in clinical applications for improving the safety and efficiency of the laparoscopic surgery.

Figures (12)

Schematic layout of a dual-resolution, foveated laparoscope for minimally invasive surgery. The scope consists of a wide-angle imaging probe and a high-magnification probe. The two probes share the same objective lens, relay lens groups, and scanning lens groups.

Optical system layout of a MRFL prototype with a low-length profile, consisting of an objective lens group (a), 2 telecentric rod lens relay groups (b), a scanning lens group (c), a wide-angle probe (d), and a high-magnification probe (e).

MRFL in-vivo evaluation with a porcine model at an approximately 120mm working distance from the surgical cite: (a) high-magnification image of the spleen; (b) wide-angle image of the spleen; (c) high-magnification image of the gallbladder; (d) wide-angle image of the gallbladder. The high-magnification and wide-angle images were acquired simultaneously through the MRFL prototype.

Demonstration of situational awareness. (a) (c) high-magnification images of the gallbladder captured by the high-magnification probe of the MRFL system failed to show the insertion and close approach of another surgical instrument; (b) (d) wide-angle views, corresponding to (a) and (c), respectively, by the wide-angle probe shows the overview of the abdominal cavity with a clear visualization of the surgical instruments as well as their insertion path, preventing accidental collision or injuries.